cartographer安装
时间: 2023-10-02 14:12:01 浏览: 57
Cartographer是Google开发的2D和3D SLAM(同时定位和制图)库,支持ROS(机器人操作系统)。在安装Cartographer之前,您需要先安装ROS。以下是在Ubuntu上安装Cartographer的步骤:
1. 首先,安装依赖项:
```
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
```
2. 创建一个工作空间(如果您已经有一个ROS工作空间,则可以跳过此步骤):
```
mkdir -p ~/cartographer_ws/src
cd ~/cartographer_ws
catkin_make
source devel/setup.bash
```
3. 获取Cartographer源代码:
```
cd ~/cartographer_ws/src
git clone https://github.com/cartographer-project/cartographer.git
git clone https://github.com/cartographer-project/cartographer_ros.git
```
4. 获取Cartographer依赖项:
```
cd ~/cartographer_ws
wstool init src
wstool merge -t src cartographer_ros/cartographer_ros.rosinstall
wstool update -t src
```
5. 安装依赖项:
```
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
```
6. 编译Cartographer:
```
catkin_make_isolated --install --use-ninja
```
7. 设置环境变量:
```
echo 'source ~/cartographer_ws/install_isolated/setup.bash' >> ~/.bashrc
source ~/.bashrc
```
现在,您已经成功安装了Cartographer。您可以使用Cartographer进行SLAM和制图,具体操作可以参考Cartographer的官方文档。